When both lanes or the preceding vehicle within the lane detected (if a lane is not detected during control based on both lanes) are recognized and the vehicle speed is below the operating speed, the system assists steering to keep the vehicle centered in the lane. An indicator () will light up green on the instrument cluster.

• When both lanes are recognized: 0–120 mph (0–200 km/h)

• When a preceding vehicle is recognized: 0–45 mph (0–75 km/h)